EP3094556A1 - Hub-based active vibration control systems, devices, and methods with offset imbalanced rotors - Google Patents
Hub-based active vibration control systems, devices, and methods with offset imbalanced rotorsInfo
- Publication number
- EP3094556A1 EP3094556A1 EP15703663.3A EP15703663A EP3094556A1 EP 3094556 A1 EP3094556 A1 EP 3094556A1 EP 15703663 A EP15703663 A EP 15703663A EP 3094556 A1 EP3094556 A1 EP 3094556A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- hub
- rotation
- axis
- imbalanced
- offset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000003068 static effect Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 5
- 231100001261 hazardous Toxicity 0.000 description 4
- 230000003071 parasitic effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000009987 spinning Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 235000012489 doughnuts Nutrition 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/001—Vibration damping devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/22—Compensation of inertia forces
- F16F15/223—Use of systems involving rotary unbalanced masses where the phase-angle of masses mounted on counter-rotating shafts can be varied
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/001—Vibration damping devices
- B64C2027/003—Vibration damping devices mounted on rotor hub, e.g. a rotary force generator
Definitions
- One type of hub-based force generator comprises two co-rotating motorized imbalanced rotors. These rotors may rotate in the same direction as the hub such that the masses are rotating at the blade pass frequency. These rotors create a controllable rotating force vector that can be controlled to cancel hub loads.
- Another type of hub-based force generator comprises two pairs of co-rotating motorized imbalanced rotors - one pair rotating in the same direction as the hub, and the other pair rotating in the opposite direction.
- One challenge with hub-based AVC pertains to the need to address certain failure modes such as loss of operation or loss of power in which the imbalanced rotors will discontinue rotating relative to the hub. They may come to a stop in a statically balanced condition, in a statically worst case imbalance condition, or in some condition in between.
- the static imbalance that results after loss of operation will create IP hub loads that will cause vibration on the hub, the gearbox and the engines.
- the static imbalance condition that results after such a failure mode may dictate the severity of the failure mode (e.g., minor, major, hazardous, or catastrophic). For example, if after loss of operation, the rotors come to rest in a statically mass balanced condition, this may be classified as a Minor failure mode.
- a hub based AVC design has been conceived that includes at least one pair of co- rotating motorized imbalanced rotors that create a controllable rotating force vector that can be controlled to cancel hub loads on a rotating hub.
- This control is achievable using a configuration in which each rotor has an axis of rotation that is offset from the hub axis of rotation. In this way, in a loss of operation failure mode, the system is designed such that centrifugal forces will cause the masses to spin to an orientation of low static imbalance.
- the hub-based AVC system comprises a hub associated with a rotary wing aircraft, at least one controller, at least one sensor, and at least one pair of imbalanced rotors.
- the hub configured for rotation about a hub axis of rotation at a hub frequency.
- the at least one sensor in electronic communication with the at least one controller, the at least one sensor configured to measure at least one vibration associated with the rotary wing aircraft.
- the at least one pair of imbalanced rotors coupled with the rotating hub comprising: a first imbalanced rotor having a first axis of rotation that is offset in a first direction from the hub axis of rotation; and a second imbalanced rotor having a second axis of rotation that is offset from the hub axis of rotation in a second direction that is different from the first direction.
- the at least one controller is configured to provide control to at least one of the imbalanced rotors.
- the at least one pair of imbalanced rotors is configured for co-rotation at a controllable rotor speed.
- a phase associated with each imbalanced rotor is adjustable to create a controllable rotating force vector
- a method for active vibration control at a rotating hub of a rotary wing aircraft comprising: providing at least one controller and at least one sensor capable of measuring a vibration in the rotary wing aircraft, wherein the at least one sensor is in electronic communication with the at least one controller; providing at least one pair of imbalanced rotors coupled with the hub, the at least one controller controlling the at least one of imbalanced rotors; during normal operation, co-rotating at least one pair of imbalanced rotors that are coupled with the hub at a controllable rotor speed, wherein a phase associated with each imbalanced rotor is adjustable to create a controllable rotating force vector; and during a loss of operation or loss of power failure mode, rotating the at least one pair of imbalanced rotors to an orientation of low static imbalance with respect to one another.
- FIGS. 1 and 2 are perspective side views of a hub-based AVC system having two imbalanced rotors with offset axes of rotation according to embodiments of the present subject matter.
- FIGS. 3 and 4 are top views of a hub-based AVC system having two imbalanced rotors with offset axes of rotation operating in a normal mode according to an embodiment of the present subject matter.
- FIG. 5 is a side view of a hub-based AVC system showing two imbalanced rotors with offset axes of rotation operating in a normal mode according to an embodiment of the present subject matter.
- FIG. 6 is a side cutaway view of a hub-based AVC system showing two imbalanced rotors with offset axes of rotation operating in a normal mode according to an embodiment of the present subject matter.
- FIG. 7 is a schematic of a single imbalanced rotor.
- FIG. 8 a perspective side view of a hub-based AVC system having two imbalanced rotors with offset axes of rotation after a loss of operation failure according to an embodiment of the present subject matter.
- FIG. 9 is a top view of hub-based AVC system having two imbalanced rotors with offset axes of rotation after a loss of operation failure according to an embodiment of the present subject matter.
- FIG. 10 is a side view of a hub-based AVC system having two imbalanced rotors with offset axes of rotation after a loss of operation failure according to an embodiment of the present subject matter.
- FIG. 11 is a top schematic view of a hub-based AVC system having two pairs of imbalanced rotors with offset axes of rotation according to an embodiment of the present subject matter.
- an active vibration control (AVC) system is mounted about a hub 101 that is associated with a rotary wing aircraft, the hub 101 being configured for rotation about a hub axis of rotation 102 at one or more selected hub frequency.
- AVC active vibration control
- the control electronics include at least one controller (not shown) and at least one sensor (not shown).
- the at least one sensor is in electronic communication with the at least one controller, the at least one sensor configured to measure at least one vibration associated with the rotary wing aircraft.
- the at least one controller is configured to provide control to at least one of the imbalanced rotors.
- each imbalanced rotor has at least one controller providing control thereto.
- each pair of imbalances rotors has at least one controller providing control thereto.
- the at least one controller is configured to provide control to at least one pair of the imbalanced rotors.
- the at least one controller is configured to adjust a magnitude of the controllable rotating force vector.
- the hub 101 is represented as a disk in the center of the system 100 to illustrate that such an assembly is substantially toroidal (i.e., donut shaped) and can enable other helicopter systems, such as the slip ring and deice system, to pass thought its inner diameter.
- the system 100 includes at least one pair of imbalanced rotors coupled with the rotating hub 101.
- the system 100 includes two motorized imbalanced rotors with offset centers of rotation.
- a first rotor 110 includes a first mass 111 that is rotatable about a first axis of rotation 112 that is offset a first distance 113in a first direction from the hub axis of rotation 102.
- a non-limiting example of the first distance 113 is about 0.5 inches (about 1.27 centimeters).
- the first rotor 110 further includes a first rotor bearing 114 and a first rotor stator 115.
- a second rotor 120 includes a second mass 121, a second rotor bearing 124, and a second rotor stator 125.
- the second mass 121 is rotatable about a second axis of rotation 122 that is offset a second distance 123 from the hub axis of rotation 102, but in a second direction that is different from the first direction.
- a non-limiting example of the second distance 123 is about 0.5 inches (about 1.27 centimeters).
- the second direction in which the second axis of rotation 122 is offset from the hub axis of rotation 102 is substantially opposite from the first direction in which the first axis of rotation 112 is offset from the hub axis of rotation 102.
- both the first direction and the second direction extend along a common line that is perpendicular to the hub axis of rotation 102, albeit in opposite directions.
- all of the hub axis of rotation 102, the first axis or rotation 112, and the second axis of rotation 122 are substantially parallel with one another.
- the at least one pair of imbalanced rotors is configured for co-rotation at a rotor speed that is controllable to be a multiple of the hub frequency, and a phase associated with each imbalanced rotor is adjustable to create a controllable rotating force vector.
- normal operation of the system 100 can involve the hub 101 spinning at frequency ⁇ , and the at least one pair of imbalanced rotors being driven to co-rotate at a rotor speed N ⁇ (with respect to the stationary frame), where N is a multiple of the hub frequency.
- the system 100 is further configured such that, during a loss of operation or loss of power failure mode, the at least one pair of imbalanced rotors is configured to rotate to an orientation of low static imbalance with respect to one another.
- FIGS. 8-10 illustrate the two motorized imbalanced rotors as configured to spin nominally with the hub at speed ⁇ during a loss of operation or loss of power.
- the imbalanced rotors can create forces at frequency ⁇ due to static imbalance at levels between 0 and 2 mr ⁇ 2 depending on the relative orientation of the masses. Because of the offset axes of rotation of the imbalanced rotors, centrifugal forces will tend to orient the imbalances substantially at 180 degrees apart such that static imbalance forces will be near zero.
- FIG. 7 shows a single imbalanced rotor with an offset center of rotation where gis the gravitational force, ⁇ is the hub rotational velocity [Rad/s], R is the offset of the rotor from the hub center of rotation, mr is the imbalance of the rotor.
- the equation of motion for this system is as follows:
- J the rotor inertia.
- the natural frequency of the pendulum mass in the centrifugal field is (3 ⁇ 4.
- the radius r in a general sense, is an effective radius defining the location of the center of mass of the imbalanced rotor.
- the non-dimensional ratio ⁇ / ⁇ affects many design considerations. In particular this affects (a) the speed at which the imbalanced rotors will achieve a balanced condition upon loss of motor operation, (b) the amplitude of IP rotor wobble due to gravity after loss of operation, (c) the additional motor power resulting from rotor offset, and (d) the parasitic moment during normal operation resulting from rotor offset.
- the dimensionless ratio (3 ⁇ 4 / ⁇ will dictate the speed at which the offset imbalanced masses become statically balanced upon loss of operation.
- the number of hub rotations M it will take for the system to settle out to the static balance condition is proportional to the following:
- ⁇ is the torsional damping ratio of the system.
- the offset distances R for each imbalanced rotor can be sized such that a ratio of the offset distance R to the radius r has a value that is within a range that provides desired performance.
- the ratio of R/r can be less than a upper limit at which an expected centripetal field (e.g., about 4g) would yield uncontrollable imbalances and/or very steep power increases.
- the ratio of R/r can be selected to be greater than a lower limit below which the settling time £lT seMe is undesirably large (e.g., number of hub rotations M is greater than about 4).
- the system 100 may provide desirable functionality with values of R/r between 0.02 and 0.2.
- 3 ⁇ 4 0v - i) (3 ⁇ 4V where N— 1 is the multiple of ⁇ at which the imbalanced rotor is spinning in the rotating frame.
- a parasitic torque during normal operation will result from the rotor offset.
- the maximum parasitic torque r max occurs when the imbalanced rotors are spinning at ⁇ and are neutralized.
- the second pair of imbalanced rotors further includes a fourth imbalanced rotor 140 that is rotatable about a fourth axis of rotation 142, which is offset from the hub axis of rotation 102 in a different direction (e.g., opposite) of the third axis of rotation 132.
- third direction and fourth direction are substantially perpendicular both to the first direction (i.e., the direction to which the first rotor 110 is offset) and the second direction (i.e., the direction to which the second rotor 120 is offset) and to the hub axis of rotation 102.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Vibration Prevention Devices (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461927741P | 2014-01-15 | 2014-01-15 | |
PCT/US2015/011594 WO2015109089A1 (en) | 2014-01-15 | 2015-01-15 | Hub-based active vibration control systems, devices, and methods with offset imbalanced rotors |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3094556A1 true EP3094556A1 (en) | 2016-11-23 |
EP3094556B1 EP3094556B1 (en) | 2018-03-14 |
Family
ID=52464571
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15703663.3A Active EP3094556B1 (en) | 2014-01-15 | 2015-01-15 | Hub-based active vibration control systems, devices, and methods with offset imbalanced rotors |
Country Status (4)
Country | Link |
---|---|
US (1) | US10543910B2 (en) |
EP (1) | EP3094556B1 (en) |
KR (1) | KR102241339B1 (en) |
WO (1) | WO2015109089A1 (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3988449B1 (en) * | 2016-03-14 | 2023-11-01 | Textron Innovations Inc. | Rotor hub vibration attenuator |
US11472540B2 (en) * | 2017-06-27 | 2022-10-18 | Moog Inc. | Variable rotary pendulous mass vibration suppression system |
EP3645388A1 (en) * | 2017-06-27 | 2020-05-06 | Moog Inc. | Variable rotary radially supported mass vibration suppression system |
EP3421359B1 (en) | 2017-06-30 | 2019-08-21 | LEONARDO S.p.A. | Rotor for a hover-capable aircraft |
US11214361B2 (en) | 2018-11-21 | 2022-01-04 | Textron Innovations Inc. | Vibration attenuator |
EP3750801B1 (en) | 2019-06-13 | 2021-08-04 | LEONARDO S.p.A. | Rotor for a hover-capable aircraft |
EP3766778B1 (en) * | 2019-07-19 | 2021-11-24 | LEONARDO S.p.A. | Rotor for a hover-capable aircraft |
EP4269238A3 (en) * | 2019-07-19 | 2023-12-27 | Leonardo S.p.a. | Rotor for a hover-capable aircraft |
Family Cites Families (22)
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US2225929A (en) * | 1938-02-28 | 1940-12-24 | Sarazin Raoul Roland Raymond | Vibration damper |
US4045948A (en) * | 1976-08-23 | 1977-09-06 | Lord Corporation | Vibration attenuating support for rotating member |
NZ188087A (en) * | 1977-08-19 | 1980-11-28 | Agrowplow Pty Ltd | Vibrating device |
FR2733483B1 (en) * | 1995-04-27 | 1997-07-04 | Eurocopter France | VIBRATION MITIGATION DEVICE FOR A HELICOPTER ROTOR |
FR2749901B1 (en) * | 1996-06-12 | 2000-12-08 | Eurocopter France | DEVICE FOR REDUCING THE VIBRATION GENERATED BY A LIFT ROTOR OF A TURNED AIRCRAFT |
US5833567A (en) * | 1997-03-26 | 1998-11-10 | Fernandez; Angel | Inertial power transmission |
US6869375B2 (en) | 2001-02-27 | 2005-03-22 | Sikorsky Aircraft Corporation | High output force actuator for an active vibration control system |
US7958801B2 (en) * | 2003-10-01 | 2011-06-14 | Sikorsky Aircraft Corporation | Harmonic force generator for an active vibration control system |
US9046148B2 (en) * | 2003-10-14 | 2015-06-02 | Sikorsky Aircraft Corporation | Active force generation system for minimizing vibration in a rotating system |
EP1786670B1 (en) * | 2004-08-30 | 2013-12-25 | Lord Corporation | Helicopter vibration control system |
US7722322B2 (en) * | 2004-08-30 | 2010-05-25 | Lord Corporation | Computer system and program product for controlling vibrations |
US8162606B2 (en) * | 2004-08-30 | 2012-04-24 | Lord Corporation | Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations |
US8435002B2 (en) * | 2004-08-30 | 2013-05-07 | Lord Corporation | Helicopter vibration control system and rotating assembly rotary forces generators for canceling vibrations |
US8474745B2 (en) * | 2007-04-24 | 2013-07-02 | Textron Innovations Inc. | Rotor hub vibration attenuator |
EP2150460B1 (en) * | 2007-04-24 | 2015-06-10 | Bell Helicopter Textron Inc. | Rotor hub vibration attenuator |
US8403643B2 (en) * | 2008-03-20 | 2013-03-26 | Sikorsky Aircraft Corporation | Dual frequency hub mounted vibration suppressor system |
JP5452348B2 (en) * | 2009-07-27 | 2014-03-26 | ルネサスエレクトロニクス株式会社 | Semiconductor memory device |
FR2951136B1 (en) * | 2009-10-14 | 2011-10-21 | Eurocopter France | MECHANISM FOR ATTENUATING TORQUE PULSATIONS BETWEEN AN ENGINE AND A ROTOR OF GIRAVION DRIVEN IN ROTATION BY THIS ENGINE |
FR2954274B1 (en) * | 2009-12-17 | 2012-02-24 | Eurocopter France | VIBRATION DAMPER MECHANISM, AND FLYING APPARATUS PROVIDED WITH A CARRIER STRUCTURE AND A ROTOR HAVING SUCH A MECHANISM |
WO2015031826A1 (en) * | 2013-08-29 | 2015-03-05 | Lord Corporation | Circular force generator (cfg) devices, systems, and methods having dual acting vibration cancelling |
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US10065730B2 (en) * | 2014-01-22 | 2018-09-04 | Bell Helicopter Textron Inc. | Active vibration control system with non-concentric revolving masses |
-
2015
- 2015-01-15 WO PCT/US2015/011594 patent/WO2015109089A1/en active Application Filing
- 2015-01-15 KR KR1020167021790A patent/KR102241339B1/en active IP Right Grant
- 2015-01-15 EP EP15703663.3A patent/EP3094556B1/en active Active
- 2015-01-15 US US15/111,617 patent/US10543910B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20160325828A1 (en) | 2016-11-10 |
KR20160108442A (en) | 2016-09-19 |
KR102241339B1 (en) | 2021-04-15 |
EP3094556B1 (en) | 2018-03-14 |
WO2015109089A1 (en) | 2015-07-23 |
US10543910B2 (en) | 2020-01-28 |
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